candemo.c

stm32初级例程

/*----------------------------------------------------------------------------
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编译器版本：MDK4.12
 *---------------------------------------------------------------------------*/
#include <stm32f10x_lib.h>                        // STM32F10x Library Definitions
#include "STM32_Reg.h"                            // STM32 register and bit Definitions
#include "STM32_Init.h"                           // STM32 Initialization
#include "CAN.h"                                  // STM32 CAN adaption layer
#include "MyType.h"
#include "config.h"

//为了保证CAN通信的效率，本例子只有CAN初始化配置函数才使用ST官方库函数
//
/*----------------------------------------------------------------------------
  insert a delay time.
 *----------------------------------------------------------------------------*/
void delay(unsigned int nCount)
{
   for (; nCount != 0; nCount--)
      ;
}


/*----------------------------------------------------------------------------
  initialize CAN interface
 *----------------------------------------------------------------------------*/
void can_Init(void)
{
   CAN_setup();                                   // setup CAN interface
   CAN_wrFilter(33, STANDARD_FORMAT);             // Enable reception of messages

   /* COMMENT THE LINE BELOW TO ENABLE DEVICE TO PARTICIPATE IN CAN NETWORK   */
   //CAN_testmode(CAN_BTR_SILM | CAN_BTR_LBKM);      // Loopback, Silent Mode (self-test)

   //软件仿真使用环回模式
   //CAN_testmode(CAN_BTR_SILM | CAN_BTR_LBKM); /* Loopback and           */
   //硬件仿真使用正常模式
   CAN_testmode(0); //正常模式

   CAN_start();                                   // leave init mode

   CAN_waitReady();                               // wait til mbx is empty
}



/*----------------------------------------------------------------------------
  MAIN function
 *----------------------------------------------------------------------------*/
int main(void)
{
   uint32 i;
   //uint8 flag=0;

   stm32_Init();
   can_Init();                                    // initialise CAN interface


   CAN_TxMsg.id = 33;                              // initialise message to send
   for (i = 0; i < 8; i++)
      CAN_TxMsg.data[i] = 0;
   CAN_TxMsg.len = 4;
   CAN_TxMsg.format = STANDARD_FORMAT;
   CAN_TxMsg.type = DATA_FRAME;

   i = 0;
   while (1)
   {
      if (CAN_TxRdy)
      {
         if (++i == 60000)
         {
            //i=0;
            CAN_TxMsg.data[0] = 0;
            CAN_TxMsg.data[1] = 0;
            CAN_TxMsg.data[2] = 0;
            CAN_TxMsg.data[3] = 0;

            CAN_TxRdy = 0;
            CAN_wrMsg(&CAN_TxMsg);
         }
         else if (i == 120000)
         {
            i = 0;

            CAN_TxMsg.data[0] = 1;
            CAN_TxMsg.data[1] = 1;
            CAN_TxMsg.data[2] = 1;
            CAN_TxMsg.data[3] = 1;

            CAN_TxRdy = 0;
            CAN_wrMsg(&CAN_TxMsg);
         }
      }


      if (CAN_RxRdy)
      {
         CAN_RxRdy = 0;

         if (CAN_RxMsg.data[0] == 0)////PC8状
            PC8 = 0;
         else
            PC8 = 1;

         if (CAN_RxMsg.data[1] == 0)////PC9状
            PC9 = 0;
         else
            PC9 = 1;

         if (CAN_RxMsg.data[2] == 0)////PC10状
            PC10 = 0;
         else
            PC10 = 1;

         if (CAN_RxMsg.data[3] == 0)////PC11状
            PC11 = 0;
         else
            PC11 = 1;
      }
   } // end while
} // end main